Preliminary study on the docking control of a large ship using tugboats
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In this study, we aim to automate the docking operation by manipulating a (disabled) large ship using multiple tugboats. To this end, as a preliminary study, we attempt to incorporate the dynamics of the ship and tugboats into the manipulation control. Assuming that the contact between the ship and each tugboat is a point contact, the velocity constraints at the contact points yield a reduced dynamic equation that can be expressed using independent variables, e.g., ship variables (surge, sway, and yaw rates), and that excludes contact force terms; this allows us to treat the ship and multiple tugboats as a single system to control the independent variables. We formulate the reduced dynamic equation of a ship and n number of tugboats and present a controller to manipulate the ship to track a straight-line path while maintaining a desired heading angle. However, a separate controller is required when using a single tugboat because a singular point appears when the contact point is aligned with the two centers of mass of the ship and tugboat. We conduct simulations of cases of using one, two, and three tugboat(s) to verify the effectiveness of the proposed control method based on the reduced dynamics.
Abstract
In this study, we aim to automate the docking operation by manipulating a (disabled) large ship using multiple tugboats. To this end, as a preliminary study, we attempt to incorporate the dynamics of the ship and tugboats into the manipulation control. Assuming that the contact between the ship and each tugboat is a point contact, the velocity constraints at the contact points yield a reduced dynamic equation that can be expressed using independent variables, e.g., ship variables (surge, sway, and yaw rates), and that excludes contact force terms; this allows us to treat the ship and multiple tugboats as a single system to control the independent variables. We formulate the reduced dynamic equation of a ship and n number of tugboats and present a controller to manipulate the ship to track a straight-line path while maintaining a desired heading angle. However, a separate controller is required when using a single tugboat because a singular point appears when the contact point is aligned with the two centers of mass of the ship and tugboat. We conduct simulations of cases of using one, two, and three tugboat(s) to verify the effectiveness of the proposed control method based on the reduced dynamics.
참고문헌 (18)
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